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2015ERPUG-ProVAL-Chang-v1
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Panther

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A presentation about my project called Panther. http://rnext.it/panther/ An autonomous robot for exploration, reconstruction and learning. The robot use the NVIDIA Jetson TX2, ZED stereocamera, LIDAR, IMU and other sensor to recognise itself in the environment.

A presentation about my project called Panther. http://rnext.it/panther/ An autonomous robot for exploration, reconstruction and learning. The robot use the NVIDIA Jetson TX2, ZED stereocamera, LIDAR, IMU and other sensor to recognise itself in the environment.

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Panther

  1. 1. PANTHER Powerful Autonomous eNTity High-End Robot
  2. 2. About me Raffaello Bonghi, PhD u Automation and robotic engineer u Education: u BSc in Automation and System Engineering (University of Rome, "La Sapienza" 2006 – 2009) Thesis: Design and Realization of an autonomous mobile platform u MSc in System and Control Engineering (University of Rome "La Sapienza" 2009 – 2012) Thesis: An autonomous mobile platform in an "Augmented reality" environment u PhD in Automation and Operative Research 2012-2016 (University of Rome "La Sapienza" – Italy & L2S, Supélec, Université Paris Sud XI – France) Thesis: Non linear sampled-data for mobile robotics u Experience: u NTT DATA (March 2017 – Now) 1. Optimization and IoT problems for Energy environments 2. Automotive and self drive vehicles u Over S.r.L. (November 2016 – March 2017) Embedded system engineer for energy meter u Italian Istitute of Technology IIT (November 2014 – March 2015) Intership about Control and friction reduction on humanoid robot iCub @rbonghi @raffaello86 raffaello-bonghi raffaello@rnext.it http://rnext.it
  3. 3. Outline u About me u Events u Panther project u Mechanics u Electronics u NVIDIA Jetson TX2 u ROS u Navigation u Autonomous navigation u RTABMAP u cartographer
  4. 4. Events – NVIDIA GTC 2015 & 2016 San Jose – California (U.S.A.) u Show Dude (2015/2016) with: u Jetson TK1 u RGBD sensor u Motor controller u Show Panther (2016) in early release
  5. 5. Events –Japan Tokyo - August 2016 NVIDIA Meet-up & Maker Faire Tokyo 2016 u My first trip in Japan ^_^ u During the Meet-up: u Introduction ROS u Dude u Panther
  6. 6. Events- GTC Europe 2017 Munich 10-12 October u Presentation Poster on: “robot augmented reality” u Panther showed on NVIDIA Booth u Autonomous navigation u 3D mapping (rtabmap) u 2D/3D mapping (cartographer)
  7. 7. What is Panther? Powerful Autonomous eNTity High-End Robot u Panther is acronym of: u Powerful u Autonomous u eNTity u High-End u Robot u Panther is an autonomous mobile robot for: u Autonomous navigation u 2D/3D reconstruction u Interaction u Panther use: u NVIDIA Jetson TX2 u ZED stereocamera u Slamtec LIDAR u Panther is ROS enabled!
  8. 8. Mechanics u Fully home made project! u Parts: u 2x Tracks u 1x Body u Materials: u Plexiglas u Aluminum u 3D printed parts
  9. 9. Tracks and frames NVIDIA Jetson TX2 ZED stereocamera Slamec LIDAR IMU Speakers Roboteq motor controller Rubber track A lot of wheels! Plexiglas material 3 parts perfect to climb little rocks
  10. 10. Panther upgrade 2016 -> 2017 https://www.youtube.com/watch?v=Fnjxk0AlESU
  11. 11. Panther @ GTC17EU https://www.youtube.com/watch?v=IjHqjM4LzU4
  12. 12. Electronics Roboteq DC Motor controller SLAMTEC LIDAR Sparkfun IMU ZED Stereolabs Stereocamera NVIDIA Jetson TX2
  13. 13. Panther and learning system
  14. 14. 3D Reconstruction
  15. 15. RTABMap 3D reconstruction - Video https://www.youtube.com/watch?v=dfKiFW3SGEs
  16. 16. How it’s works 3D reconstruction A lot of ROS nodes working inside the Jetson TX2!
  17. 17. 2D reconstruction UKF + LIDAR + ZED UKF + ZED Difference between LIDAR Depth to laser scan converter
  18. 18. Cartographer VS gmapping u During the GTC Europe I’ve test two SLAM mode in different combination: u Specification: MAP SIZE 10000m^2 u Flat plane u A lot of structured information J u A lot of people L WORKS! NO!
  19. 19. Cartographer
  20. 20. Robot Augmented reality
  21. 21. Augmented reality - Video https://www.youtube.com/watch?v=rzTBSHTWRxg
  22. 22. CONNECT NVIDIA をはじめ⽇本中から 集まる GPU の専⾨家と交流 LEARN 数多くの技術セッションと ポスター展⽰、⼤規模なハ ンズオンラボで学びを深め る DISCOVER AIや⾃動運転といった重要な 領域でのブレークスルーに GPU が果たしている様々な役 割を発⾒ INNOVATE 新進気鋭のスタートアップ による破壊的イノベーショ ンに注⽬ ⽇本最⼤の GPU 技術イベントにぜひご参加ください GTC Japan 2017 は 2017年12⽉12 〜 13⽇に東京で開催 2017/12/12~13 | 東京 | #GTCJapan http://www.gputechconf.jp/
  23. 23. #JetsonDevChallenge! 優勝者には賞⾦も】NVIDIAはNVIDIA Jetson AIスーパーコンピューターを使った独創的な #AI プロジェクトを募るコンテスト、NVIDIA #JetsonDevChallenge を開催します!詳細 は公式ブログにて
  24. 24. Grazie! Thank you ありがとうございました @rbonghi @raffaello86 raffaello-bonghi raffaello@rnext.it http://rnext.it

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